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Settings

This GUI loads parameter configuration files (e.g carolo-cup-2023/settings/runtime_system.json) and allows to change those parameters conveniently at node runtime. This is useful for finding the right parameters without having to recompile the nodes each time a parameter has been changed.

Install​

If not already installed:

sudo apt install qtmultimedia5-dev libqt5multimediawidgets5 libqt5multimedia5-plugins libqt5multimedia5 -y
sudo apt install -y nlohmann-json-dev

Usage​

Run:

ros2 run galaxis_test_setup_pkg jsonParameterGUI

Then go to File → Open → select the parameter configuration file /root/docker_volume/git/carolo-cup-2023/settings/runtime_system.json.

The parameter configuration file will be displayed as shown in the image below.

settings-editor.png

Settings Terminal Log​

Pressing the "Send" button will trigger ros2 param set. All parameter values will be logged. If a parameter value has been changed in the GUI before pressing "Send", then this parameter value will be highlighted in the terminal log (see in the image below).

settings-terminal-log.png

Note: At the time of writing the current parameter configuration will not be saved automatically when pressing "Send"! So, make sure to save the configuration manually via the GUI's main menu in the top bar.